Stable Sparse RRT (SST)

Implementation of SST path planning algorithm based on article:

Li, Y., Littlefield, Z., & Bekris, K. E. (2016). Asymptotically optimal sampling-based kinodynamic planning. The International Journal of Robotics Research, 35(5), 528-564.

Car's kinematic model is used.

Build:

mkdir -p catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/dmn-sjk/sst_path_planning.git sst
cd ~/catkin_ws
catkin_make
source devel/setup.bash
chmod +x ~/catkin_ws/src/sst/scripts/*.py

Run simulated SST path planning:

Configuration in simulation.launch file

roslaunch sst simulation.launch

Check car kinematic model and control it with keyboard:

sudo apt-get install ros-noetic-teleop-twist-keyboard
roslaunch sst car_simulation.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py